@article{(International Science Index):http://waset.org/publications/10005022,
title = {Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation},
author = {Christopher Spiewak and M. R. Islam and Mohammad Arifur Rahaman and Mohammad H. Rahman and Roger Smith and Maarouf Saad},
country = {United States},
institution={University of Wisconsin - Milwaukee},
abstract = {For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.},
journal = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering}, volume = {10},
number = {8},
year = {2016},
pages = {1414 - 1418},
ee = {http://waset.org/publications/10005022},
url = {http://waset.org/Publications?p=116},
bibsource = {http://waset.org/Publications},
issn = {eISSN:1307-6892},
publisher = {World Academy of Science, Engineering and Technology},
index = {International Science Index 116, 2016},
}